UAS/Notes/IMU: Difference between revisions
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(Created page with '= Inertial Measurement Unit (IMU) = The IMU was are going to create will consist of an 3 axis acceleration, a 3axis gyroscope, a 3 axis magnetometer, and a barometer. These comb…') |
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'''6 dof algorithm'''<BR> | |||
Here is what our algorithm will do:<BR> | |||
- accelerometer tells us: "You are now at position Racc"<BR> | |||
- we say "Thank you, but let me check",<BR> | |||
- then correct this information with gyroscope data as well as with past Rest data and we output a new estimated vector Rest. <BR> | |||
- we consider Rest to be our "best bet" as to the current position of the device.<BR> | |||
some algorithum i found | some algorithum i found | ||
*Read the 3 axis magnetometer data | |||
* Calculate the "tilt compensated" x and y magnetic component (standard formulation): | |||
** CMx = mag_x*cos(pitch) + mag_y*sin(roll)sin(pitch) + mag_z*cos(roll)sin(pitch) CMy = mag_y*cos(roll) - mag_z*sin(roll) | |||
* Calculate the magnetic heading with this compensated components: | |||
** MAG_Heading = Atan(CMy/CMx) | |||
http://code.google.com/p/sf9domahrs/ might have the code we are looking for. | |||
Latest revision as of 20:30, 30 March 2024
Inertial Measurement Unit (IMU)
The IMU was are going to create will consist of an 3 axis acceleration, a 3axis gyroscope, a 3 axis magnetometer, and a barometer. These combined will give us 10 degrees of freedom.
6 dof algorithm
Here is what our algorithm will do:
- accelerometer tells us: "You are now at position Racc"
- we say "Thank you, but let me check",
- then correct this information with gyroscope data as well as with past Rest data and we output a new estimated vector Rest.
- we consider Rest to be our "best bet" as to the current position of the device.
some algorithum i found
- Read the 3 axis magnetometer data
- Calculate the "tilt compensated" x and y magnetic component (standard formulation):
- CMx = mag_x*cos(pitch) + mag_y*sin(roll)sin(pitch) + mag_z*cos(roll)sin(pitch) CMy = mag_y*cos(roll) - mag_z*sin(roll)
- Calculate the magnetic heading with this compensated components:
- MAG_Heading = Atan(CMy/CMx)
http://code.google.com/p/sf9domahrs/ might have the code we are looking for.